Realtime motion compensation for ROV-based teleoperated underwater manipulators
Marc Hildebrandt, Leif Christensen, Jochen Kerdels, Jan Albiez, Frank Kirchner
In OCEANS 2009 - EUROPE, 2009 OCEANS 09, (OCEANS-09), 11.5.-14.5.2009, Bremen, o.A., May/2009. ISBN: 978-1-4244-2523-5.
ROV-based manipulators are one of the few possibilities to manipulate objects in the deep-sea environment. With increasing demand for facilities and structures in depths beyond the access of traditional divers and the increasing complexity of such structures, the challenges and applications for manipulator systems are steadily increasing. In order to match these requirements either new manipulation paradigms or novel control systems are imperative. This paper focuses on the possibility to assist human operators in complex tasks executed with ROV-based tele-operated manipulators by introducing a motion-compensation layer between the operator and the manipulator, greatly improving the performance of such systems.